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Calibration method to improve transfer from simulation to quadruped robots

Gabriel Urbain (UGent) , Alexander Vandesompele (UGent) , Francis wyffels (UGent) and Joni Dambre (UGent)
Author
Organization
Project
HBP SGA1 (Human Brain Project Specific Grant Agreement 1)
Abstract
Using passive compliance in robotic locomotion has been seen as a cheap and straightforward way of increasing the performance in energy consumption and robustness. However, the control for such systems remains quite challenging when using traditional robotic techniques. The progress in machine learning opens a horizon of new possibilities in this direction but the training methods are generally too long and laborious to be conducted on a real robot platform. On the other hand, learning a control policy in simulation also raises a lot of complication in the transfer. In this paper, we designed a cheap quadruped robot and detail a calibration method to optimize a simulation model in order to facilitate the transfer of parametric motor primitives. We present results validating the transfer of Central Pattern Generators (CPG) learned in simulation to the robot which already give positive insights on the validity of this method.
Keywords
Embodiment, Compliant quadruped locomotion, Transfer learning, CPG

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Citation

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Chicago
Urbain, Gabriel, Alexander Vandesompele, Francis wyffels, and Joni Dambre. 2018. “Calibration Method to Improve Transfer from Simulation to Quadruped Robots.” In From Animals to Animats 15, ed. Poramate Manoonpong, Jørgen Christian Larsen, Xiaofeng Xiong, John Hallam, and Jochen Triesch, 102–113. Cham: Springer International Publishing.
APA
Urbain, G., Vandesompele, A., wyffels, F., & Dambre, J. (2018). Calibration method to improve transfer from simulation to quadruped robots. In P. Manoonpong, J. C. Larsen, X. Xiong, J. Hallam, & J. Triesch (Eds.), From Animals to Animats 15 (pp. 102–113). Presented at the 15th International Conference on Simulation of Adaptive Behavior, SAB 2018, Cham: Springer International Publishing.
Vancouver
1.
Urbain G, Vandesompele A, wyffels F, Dambre J. Calibration method to improve transfer from simulation to quadruped robots. In: Manoonpong P, Larsen JC, Xiong X, Hallam J, Triesch J, editors. From Animals to Animats 15. Cham: Springer International Publishing; 2018. p. 102–13.
MLA
Urbain, Gabriel, Alexander Vandesompele, Francis wyffels, et al. “Calibration Method to Improve Transfer from Simulation to Quadruped Robots.” From Animals to Animats 15. Ed. Poramate Manoonpong et al. Cham: Springer International Publishing, 2018. 102–113. Print.
@inproceedings{8571601,
  abstract     = {Using passive compliance in robotic locomotion has been seen as a cheap and straightforward way of increasing the performance in energy consumption and robustness. However, the control for such systems remains quite challenging when using traditional robotic techniques. The progress in machine learning opens a horizon of new possibilities in this direction but the training methods are generally too long and laborious to be conducted on a real robot platform. On the other hand, learning a control policy in simulation also raises a lot of complication in the transfer. In this paper, we designed a cheap quadruped robot and detail a calibration method to optimize a simulation model in order to facilitate the transfer of parametric motor primitives. We present results validating the transfer of Central Pattern Generators (CPG) learned in simulation to the robot which already give positive insights on the validity of this method.},
  author       = {Urbain, Gabriel and Vandesompele, Alexander and wyffels, Francis and Dambre, Joni},
  booktitle    = {From Animals to Animats 15},
  editor       = {Manoonpong, Poramate and Larsen, J{\o}rgen Christian and Xiong, Xiaofeng and Hallam, John and Triesch, Jochen},
  isbn         = {978-3-319-97628-0},
  language     = {eng},
  location     = {Frankfurt},
  pages        = {102--113},
  publisher    = {Springer International Publishing},
  title        = {Calibration method to improve transfer from simulation to quadruped robots},
  url          = {http://dx.doi.org/10.1007/978-3-319-97628-0\_9},
  year         = {2018},
}

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